JP2841028B2 - Angular velocity detector - Google Patents
Angular velocity detectorInfo
- Publication number
- JP2841028B2 JP2841028B2 JP6315468A JP31546894A JP2841028B2 JP 2841028 B2 JP2841028 B2 JP 2841028B2 JP 6315468 A JP6315468 A JP 6315468A JP 31546894 A JP31546894 A JP 31546894A JP 2841028 B2 JP2841028 B2 JP 2841028B2
- Authority
- JP
- Japan
- Prior art keywords
- angular velocity
- radius
- equation
- speed
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000005259 measurement Methods 0.000 claims description 20
- 238000001514 detection method Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 description 10
- 230000014509 gene expression Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 239000013307 optical fiber Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/56—Devices characterised by the use of electric or magnetic means for comparing two speeds
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Description
【０００１】[0001]
【目次】以下の順序で本発明を説明する。 産業上の利用分野 従来の技術 発明が解決しようとする課題 課題を解決するための手段（図１） 作用 実施例（図１〜図５） （１）全体構成（図１〜図３） （２）角速度検出の原理（図５） （３）角速度検出動作（図３及び図４） （４）他の実施例 発明の効果[Table of Contents] The present invention will be described in the following order. BACKGROUND OF THE INVENTION Problems to be Solved by the Invention Means for Solving the Problem (FIG. 1) Action Embodiment (FIGS. 1 to 5) (1) Overall Configuration (FIGS. 1 to 3) (2) ) Principle of angular velocity detection (Fig. 5) (3) Angular velocity detection operation (Figs. 3 and 4) (4) Other embodiments Advantages of the invention
【０００２】[0002]
【産業上の利用分野】本発明は角速度検出装置に関し、
例えばナビゲーシヨン装置の位置検出部分に用いて好適
なものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an angular velocity detecting device,
For example, it is suitable for use in a position detection portion of a navigation device.
【０００３】[0003]
【従来の技術】現在、ＣＤ−ＲＯＭに記録された地図上
に車両の現在位置を重ねて表示するシステムが実用化さ
れている。これら多くのナビゲーシヨンシステムにＧＰ
Ｓ受信機が位置検出手段として用いられているが、ＧＰ
Ｓ受信機は市街地等のように衛星からの電波を直接受信
できない場所や低速走行時に十分な精度の位置情報を得
ることができない。2. Description of the Related Art At present, a system for displaying a current position of a vehicle on a map recorded on a CD-ROM in a superimposed manner has been put to practical use. Many of these navigation systems have GP
S receiver is used as position detection means,
The S receiver cannot obtain position information with sufficient accuracy at a place such as an urban area where a radio wave from a satellite cannot be directly received or at a low speed.
【０００４】このようにＧＰＳ受信機が苦手とする場所
等において正確な位置情報を得るため各種の工夫がなさ
れている。この１つに角速度を求めるセンサがある。こ
の種のセンサとしては例えば振動ジヤイロ、光フアイバ
ジヤイロ、地磁気センサ、ガスレートセンサ等がある。As described above, various devices have been devised in order to obtain accurate position information in places where the GPS receiver is not good. One of these is a sensor that determines the angular velocity. Examples of this type of sensor include a vibration gyroscope, an optical fiber gyroscope, a geomagnetic sensor, and a gas rate sensor.
【０００５】[0005]
【発明が解決しようとする課題】ところがこれらセンサ
にはそれぞれ次のような利点と欠点があり、高精度かつ
安価な計測手段としては未だ不十分であつた。例えば振
動ジヤイロの場合には小型で安価であるという利点があ
る一方でオフセツト値が変動する欠点がある。また光フ
アイバジヤイロの場合には高精度であるが高価であると
いう欠点がある。地磁気センサは絶対方位を得ることが
できる反面、外界ノイズに弱いという欠点がある。さら
にガスレートセンサは起動時間が長くかかるという欠点
がある。However, these sensors have the following advantages and disadvantages, respectively, and are still insufficient as highly accurate and inexpensive measuring means. For example, a vibrating gyroscope has the advantage of being small and inexpensive, but has the disadvantage of fluctuating the offset value. In the case of optical fiber gyro, there is a disadvantage that it is highly accurate but expensive. Although the geomagnetic sensor can obtain the absolute azimuth, it has a drawback that it is vulnerable to external noise. Further, the gas rate sensor has a disadvantage that it takes a long startup time.
【０００６】本発明は以上の点を考慮してなされたもの
で、常に正確な角速度を安価に検出することができる角
速度検出装置を提案しようとするものである。The present invention has been made in view of the above points, and it is an object of the present invention to propose an angular velocity detecting device capable of always detecting an accurate angular velocity at low cost.
【０００７】[0007]
【課題を解決するための手段】かかる課題を解決するた
め本発明においては、移動体に対して異なる２つの測定
点に設けられ、それぞれ第１及び第２の速度情報
（ｖＬ）、（ｖＲ）を検出する第１及び第２の速度検出
手段（２）、（３）と、第１及び第２の速度検出手段
（２）、（３）によつて検出された第１及び第２の速度
情報（ｖＬ）、（ｖＲ）の差分、並びに２つの測定点の
中点を通る移動体の回転半径線上に当該２つの測定点を
それぞれ投影することによつて得られる２つの投影点の
距離とから移動体の角速度を演算する演算手段（４）、
（６）とを設けるようにする。According to the present invention, in order to solve the above-mentioned problems, first and second speed information (v L ), (v L ) are provided at two different measurement points with respect to the moving body. R ), the first and second speed detecting means (2), (3), and the first and second speed detecting means (2), (3). Difference between the velocity information (v L ) and (v R ) of the moving object, and two projections obtained by projecting the two measurement points on the radius of gyration of the moving object passing through the midpoint of the two measurement points. Calculating means (4) for calculating the angular velocity of the moving object from the distance of the point,
(6) is provided.
【０００８】[0008]
【作用】第１及び第２の速度情報（ｖＬ）、（ｖＲ）の
差分と、２つの測定点の中点を通る移動体の回転半径線
上に当該２つの測定点をそれぞれ投影することによつて
得られる２つの投影点の距離とから移動体の角速度を演
算することにより、２つの投影点の距離に対する速度情
報の差分の割合が、移動体の角速度に相当することを利
用して、移動体の回転角に応じて変化する回転半径に基
づく角速度を検出することができる。The two measurement points are respectively projected on the difference between the first and second velocity information (v L ) and (v R ) and on the radius of gyration of the moving object passing through the midpoint of the two measurement points. By calculating the angular velocity of the moving object from the distance between the two projection points obtained by the above, the ratio of the difference of the speed information with respect to the distance between the two projection points is used to correspond to the angular velocity of the moving object. In addition, it is possible to detect an angular velocity based on a radius of rotation that changes according to the angle of rotation of the moving body.
【０００９】[0009]
【実施例】以下図面について、本発明の一実施例を詳述
する。BRIEF DESCRIPTION OF THE DRAWINGS FIG.
【００１０】（１）全体構成 図１に移動体上又はその近傍の２点から得られる速度情
報から移動体の角速度を検出する角速度検出装置１の構
成例を示す。この例の場合、速度情報の検出に用いられ
る一対の速度検出器２及び３は移動体の前方に少し離れ
て取り付けられており、それぞれ移動体の中心を通る中
心線を挟んで左右対称の位置に取り付けられている。速
度検出器２及び３には様々な測定手段を用いることがで
きるが、ここでは図２に示すような電波送受信器２Ａ及
び３Ａを用いることにする。因に電波送受信器２Ａ及び
３Ａは送信波と反射波のドツプラー効果によつて対物速
度を求める装置である。(1) Overall Configuration FIG. 1 shows an example of the configuration of an angular velocity detecting device 1 for detecting the angular velocity of a moving body from velocity information obtained from two points on or near the moving body. In the case of this example, a pair of speed detectors 2 and 3 used for detecting speed information are mounted a little apart in front of the moving body, and are respectively symmetrical with respect to a center line passing through the center of the moving body. Attached to. Various measuring means can be used for the speed detectors 2 and 3, but here, radio wave transceivers 2A and 3A as shown in FIG. 2 are used. Incidentally, the radio transceivers 2A and 3A are devices for obtaining the object speed by the Doppler effect of the transmitted wave and the reflected wave.
【００１１】速度検出器２及び３で測定された速度情報
ｖL 及びｖR はそれぞれ演算処理部４及び速度演算部５
に与えられる。演算処理部４は入力された速度情報ｖL
及びｖR を用いて角速度ωを求める際に必要となる各種
の変数を図３の処理手順に基づいて求め、角速度出力部
６に出力するようになされている。角速度出力部６は入
力された各種変数に基づいて角速度ωを算出し、これを
ＣＰＵ７に与える。ＣＰＵ７は角速度ωの他、速度演算
部５から移動体の移動速度ｖを入力する。ここでは移動
速度ｖを速度情報ｖL 及びｖR の平均値として求める。The speed information v L and v R measured by the speed detectors 2 and 3 are calculated by an arithmetic processing unit 4 and a speed calculating unit 5, respectively.
Given to. The arithmetic processing unit 4 receives the input speed information v L
And various variables required for obtaining the angular velocity ω using v R are obtained based on the processing procedure of FIG. 3 and output to the angular velocity output unit 6. The angular velocity output unit 6 calculates the angular velocity ω based on the various input variables and supplies the calculated angular velocity ω to the CPU 7. The CPU 7 receives the moving speed v of the moving object from the speed calculating unit 5 in addition to the angular speed ω. Here, the moving speed v is obtained as an average value of the speed information v L and v R.
【００１２】ＣＰＵ７は移動速度ｖ及び角速度ωに基づ
いて、前測定時における動体の位置に対する相対的な進
行方向及び移動量等を特定する。そしてＣＰＵ７はこの
ようにして求めた進行方向及び移動量等から物体の現在
位置を求め、これをＣＤ−ＲＯＭ装置８から取り込んだ
地図情報に重ねて表示できるように加工して表示装置９
に出力する。因に入力装置１０は移動体の初期位置の入
力やモードの変更等に用いられる。The CPU 7 specifies, based on the moving speed v and the angular speed ω, the direction of travel and the amount of movement relative to the position of the moving body at the time of the previous measurement. Then, the CPU 7 obtains the current position of the object from the moving direction and the moving amount obtained in this way, processes the current position so that it can be displayed on the map information fetched from the CD-ROM device 8, and displays the processed position.
Output to The input device 10 is used for inputting the initial position of the moving body, changing the mode, and the like.
【００１３】（２）角速度検出の原理 演算処理部４は測定点Ｌ及びＲについて速度検出器２及
び３で得られた動体の速度情報ｖL 及びｖR が入力され
ると、図３の処理手順に基づいて測定点Ｌ及びＲの中点
についての回転半径ｒを求める処理を開始するのである
が、これは次式に示すように、角速度ωを求めるのに測
定点Ｌ及びＲの中点を通る回転半径線上に測定点Ｌ及び
Ｒを射影した射影点Ｌ’及びＲ’間の距離ｄが必要であ
り、この距離ｄを求めるのに回転半径ｒが必要になるこ
とによる。(2) Principle of Angular Velocity Detection When the processing unit 4 receives the speed information v L and v R of the moving object obtained by the speed detectors 2 and 3 for the measurement points L and R, the processing unit 4 executes the processing shown in FIG. The process of obtaining the radius of gyration r at the midpoint of the measurement points L and R is started based on the procedure. This is performed by calculating the midpoint of the measurement points L and R to obtain the angular velocity ω as shown in the following equation. The distance d between the projection points L ′ and R ′, which project the measurement points L and R on the line of the radius of rotation that passes, is required, and the radius of rotation r is required to obtain this distance d.
【数１】 (Equation 1)
【００１４】（１）式を用いれば角速度ωを求めること
ができるのは次の通りである。図５に示すように、回転
中心Ｏから射影点Ｌ’までの距離をｘとし、射影点Ｌ’
及びＲ’での速度情報をｖL 及びｖR とすると、回転中
心Ｏからの距離と速度との間には、次式The equation (1) can be used to determine the angular velocity ω as follows. As shown in FIG. 5, the distance from the rotation center O to the projection point L ′ is x, and the projection point L ′
If the speed information at R and R ′ is v L and v R , the distance between the distance from the rotation center O and the speed is expressed by the following equation.
【数２】 が成り立つ。(Equation 2) Holds.
【００１５】この（２）式を変形すると、ｘ・ｖR ＝ｖ
L ・（ｘ＋ｄ）が得られ、これより距離ｘは、次式By transforming equation (2), x · v R = v
L · (x + d) is obtained, from which the distance x is given by the following equation:
【数３】 のように求められる。この距離ｘを用いると、角速度ω
は、次式(Equation 3) Is required. Using this distance x, the angular velocity ω
Is
【数４】 で表され、この（４）式に（３）式を代入すると（１）
式が得られる。(Equation 4) Substituting equation (3) into equation (4) gives (1)
An expression is obtained.
【００１６】さてこれらの式により角速度ωは射影点
Ｌ’及びＲ’間の距離ｄが分かれば求めることができる
ことが分かつた。しかしながらこの距離ｄは回転角θに
応じて定まるパラメータであり、固定値としては与える
ことができない。そこで回転半径ｒとの関係式の他、関
係式を２つ用意する。まず１つ目の関係式として回転半
径ｒと距離ｄとの関係式を求める。このため（３）式を
用いて回転中心Ｏから射影点Ｒ’までの距離ｘ＋ｄを、
次式It has been found from these equations that the angular velocity ω can be obtained if the distance d between the projection points L ′ and R ′ is known. However, the distance d is a parameter determined according to the rotation angle θ, and cannot be given as a fixed value. Therefore, in addition to the relational expression with the rotation radius r, two relational expressions are prepared. First, a relational expression between the turning radius r and the distance d is obtained as a first relational expression. Therefore, the distance x + d from the rotation center O to the projection point R ′ is calculated by using the equation (3).
Next formula
【数５】 のように求める。(Equation 5) Ask like.
【００１７】すると回転半径ｒは回転中心Ｏから射影点
Ｒ’までの距離ｘ＋ｄから距離ｄの半分（ｄ／２）を引
いた長さと表せることにより、次式Then, the radius of gyration r can be expressed as a length obtained by subtracting half (d / 2) of the distance d from the distance x + d from the center of rotation O to the projection point R '.
【数６】 のように１つ目の関係式を得ることができる。ただし回
転半径ｒは測定できないため回転半径ｒを含まない２つ
目の関係式を求める。(Equation 6) The first relational expression can be obtained as follows. However, since the turning radius r cannot be measured, a second relational expression not including the turning radius r is obtained.
【００１８】射影点Ｌ’及びＲ’間の距離ｄは、測定点
Ｌ及びＲの中点と回転中心Ｏとを結ぶ直線が測定点Ｌ及
びＲを結ぶ直線と交差するときに生じる角をθとする
と、既知の値である測定点Ｌ及びＲ間の距離ｔを用い
て、次式The distance d between the projection points L ′ and R ′ is an angle θ when a straight line connecting the midpoint of the measurement points L and R and the rotation center O intersects a straight line connecting the measurement points L and R. Then, using the distance t between the measurement points L and R, which is a known value,
【数７】 と表すことができる。これが２つ目の関係式である。(Equation 7) It can be expressed as. This is the second relational expression.
【００１９】さて（７）式に現れた角θは、図４に示す
ように、後輪の車軸から測定点Ｌ及びＲまでの距離をＳ
とすると、次式The angle θ appearing in the equation (7) is, as shown in FIG. 4, the distance from the axle of the rear wheel to the measurement points L and R,
Then
【数８】 によつて求めることができる。これが３つ目の関係式で
ある。(Equation 8) Can be obtained by This is the third relational expression.
【００２０】しかしながら（８）式では未知数である回
転半径ｒが再び現れており、このままではいずれの値も
特定できない。そこで演算処理部４は、まず回転半径ｒ
として適当な値を代入することにより（８）式の角θを
求め、これを（７）式に代入することにより射影点Ｌ’
及びＲ’間の距離ｄを求める。そして最初に代入した回
転半径ｒの値と、（７）式で求められた距離ｄを（６）
式に代入することにより得られる値とが一致しなけれ
ば、最初に代入した値が不適当であつたと識別し、代入
した値と計算によつて求められる値とがほぼ一致するま
で回転半径ｒの値を更新して最適な値を求める。そして
最終的に求められた回転半径ｒを用いて角速度ωを
（１）式より求めるのがこの実施例の原理である。However, in equation (8), the radius of gyration r, which is an unknown number, appears again, and any value cannot be specified as it is. Therefore, the arithmetic processing unit 4 first determines the turning radius r
Is obtained by substituting an appropriate value as the following equation (8), and by substituting this into equation (7), the projected point L ′ is obtained.
And the distance d between R ′ and R ′. Then, the value of the radius of gyration r initially substituted and the distance d obtained by the equation (7) are expressed by (6)
If the value obtained by substituting into the equation does not match, it is determined that the initially substituted value is inappropriate, and the radius of gyration r is changed until the substituted value substantially matches the value obtained by calculation. Is updated to find the optimal value. It is the principle of this embodiment that the angular velocity ω is obtained from the equation (1) using the finally obtained radius of rotation r.
【００２１】（３）角速度検出動作 以上の構成において、角速度検出装置１による動体の角
速度検出動作を図３に示す処理手順を中心に説明する。
演算処理部４は速度検出器２及び３によつて計測された
速度情報ｖL 及びｖRが入力されると、ステツプＳＰ２
の判定処理に移り、２つの速度情報ｖL 及びｖR が同じ
であるか否かを判定する。(3) Angular Velocity Detecting Operation In the above configuration, the angular velocity detecting operation of the moving object by the angular velocity detecting device 1 will be described mainly on the processing procedure shown in FIG.
When the speed information v L and v R measured by the speed detectors 2 and 3 are input, the arithmetic processing unit 4 proceeds to step SP2.
Then, it is determined whether or not the two pieces of speed information v L and v R are the same.
【００２２】ここで肯定結果が得られると（すなわちｖ
L ＝ｖR であると）、演算処理部４はステツプＳＰ３に
移つて角速度ωが０であると判定し、続くステツプＳＰ
４に移つて今回の測定分についての処理を終了する。こ
れに対して否定結果が得られると（すなわちｖL ≠ｖR
であると）、演算処理部４はステツプＳＰ５に移つて測
定点Ｌ及びＲの中点についての回転半径ｒとして適当な
値を代入する。If a positive result is obtained (ie, v
L = v If it is R), the arithmetic processing unit 4 determines that the step SP3 moves connexion angular velocity ω is zero, the following step SP
Then, the processing for the current measurement is ended by moving to step S4. On the other hand, if a negative result is obtained (that is, v L ≠ v R
), The processing unit 4 proceeds to step SP5 and substitutes an appropriate value as the radius of gyration r for the middle point between the measurement points L and R.
【００２３】続いて代入された回転半径ｒの値に基づい
て（８）式から角θを求める（ステツプＳＰ６）。次に
この角θを（７）式に代入することにより射影点Ｌ’及
びＲ’間の距離ｄを求める（ステツプＳＰ７）。さらに
この値を（６）式に代入することにより回転半径ｒ’を
求める（ステツプＳＰ８）。このようにステツプＳＰ８
において回転半径ｒ’が求められると、演算処理部４は
求められた回転半径ｒ’がステツプＳＰ６で代入した回
転半径ｒの値とほぼ一致するか否か判断する（ステツプ
ＳＰ９）。Subsequently, the angle θ is obtained from the equation (8) based on the substituted value of the radius of rotation r (step SP6). Next, the distance d between the projection points L ′ and R ′ is obtained by substituting the angle θ into the equation (7) (step SP7). Further, the rotational radius r 'is obtained by substituting this value into the equation (6) (step SP8). Thus, step SP8
When the radius of rotation r 'is determined in step (4), the arithmetic processing unit 4 determines whether or not the determined radius of rotation r' substantially coincides with the value of the radius of rotation r substituted in step SP6 (step SP9).
【００２４】ここで否定結果が得られた場合には（すな
わちステツプＳＰ８で求めた回転半径ｒ’とステツプＳ
Ｐ６で代入した回転半径ｒとが異なる場合には）、ステ
ツプＳＰ１０に移つて２つの回転半径ｒ’及びｒの差
（＝ｒ−ｒ’）に応じた値をステツプＳＰ６で代入され
る回転半径ｒに加算して値を変更し、再度ステツプＳＰ
６から回転半径ｒ’を算出する処理を繰り返し実行す
る。この一連の処理はステツプＳＰ９で肯定結果が得ら
れるまで繰り返される。やがてステツプＳＰ９で肯定結
果が得られると（すなわちステツプＳＰ６で代入された
回転半径ｒの値とステツプＳＰ８で算出された回転半径
ｒ’の値がほぼ一致すると）、ステツプＳＰ６で代入さ
れた値が求めていた値であるとしてステツプＳＰ１１に
移り、今回の処理を終了する。If a negative result is obtained (that is, the turning radius r 'obtained in step SP8 and the step S
If the turning radius r substituted in P6 is different), the process proceeds to step SP10, where a value corresponding to the difference between the two turning radii r 'and r (= rr') is substituted in step SP6. r and change the value, and then repeat step SP
The process of calculating the radius of gyration r ′ from 6 is repeatedly executed. This series of processing is repeated until a positive result is obtained in step SP9. When an affirmative result is obtained in step SP9 (that is, when the value of the turning radius r substituted in step SP6 substantially matches the value of the turning radius r 'calculated in step SP8), the value substituted in step SP6 becomes The process proceeds to step SP11 assuming that the value has been obtained, and the current process ends.
【００２５】このとき演算処理部４から角速度出力部６
に回転半径ｒが出力される。角速度出力部６はこのよう
にして求められた回転半径ｒを（８）式に代入して角θ
を得、さらにこの角θを（７）式に代入して距離ｄを求
めた後、（１）式から角速度ωを算出する。このように
して求められた角速度ωがＣＰＵ７に与えられ、移動体
の位置検出に使用される。At this time, the arithmetic processing section 4 sends the angular velocity output section 6
Is output as the turning radius r. The angular velocity output unit 6 substitutes the radius of gyration r obtained in this way into the equation (8) to obtain the angle θ
Then, after substituting the angle θ into the equation (7) to obtain the distance d, the angular velocity ω is calculated from the equation (1). The angular velocity ω determined in this way is given to the CPU 7 and used for detecting the position of the moving body.
【００２６】以上の構成によれば、従来用いられている
各種ジヤイロのように検出値にオフセツト成分が重畳す
るおそれのない速度検出器２及び３の測定結果から角速
度ωを求めることができることにより、従来に比して精
度が高く安価な角速度検出装置１を得ることができる。
また速度検出器２及び３は各種ジヤイロと比べて静止時
における雑音成分が少ないので非常に小さい角速度まで
も正確に測定することができる角速度検出装置１を得る
ことができる。According to the above configuration, the angular velocity ω can be obtained from the measurement results of the velocity detectors 2 and 3 in which the offset component is not likely to be superimposed on the detected value as in various gyros conventionally used. It is possible to obtain an inexpensive angular velocity detecting device 1 with higher accuracy than in the past.
In addition, since the speed detectors 2 and 3 have less noise components when stationary than various gyros, it is possible to obtain the angular velocity detection device 1 that can accurately measure an extremely small angular velocity.
【００２７】（４）他の実施例 なお上述の実施例においては、速度検出器２及び３とし
て電波送受信器２Ａ及び２Ｂを用いる場合について述べ
たが、本発明はこれに限らず、他の原理を用いる速度検
出器を用いても良い。(4) Other Embodiments In the above-described embodiments, the case where the radio wave transceivers 2A and 2B are used as the speed detectors 2 and 3 has been described. However, the present invention is not limited to this, and other principles may be used. May be used.
【００２８】また上述の実施例においては、一対の速度
検出器２及び３を移動体の中心を通り、直進方向に伸び
る中心軸方向に対して線対称となるように取り付ける場
合について述べたが、本発明はこれに限らず、移動体上
又はその近傍の２点であればいかなる位置関係に取り付
けられていても良い。どのような位置関係の場合にも上
述の原理を基本として角速度ωを求めることができる。In the above-described embodiment, a case has been described in which the pair of speed detectors 2 and 3 are mounted so as to be line-symmetric with respect to the center axis extending through the center of the moving body and extending straight. The present invention is not limited to this, and may be attached in any positional relationship as long as the two points are on or near the moving body. Regardless of the positional relationship, the angular velocity ω can be obtained based on the above principle.
【００２９】さらに上述の実施例においては、一対の速
度検出器２及び３を動体の進行方向前方位置に取り付け
る場合について述べたが、本発明はこれに限らず、側面
でも後部でも良い。Further, in the above-described embodiment, the case where the pair of speed detectors 2 and 3 are mounted at the front position in the traveling direction of the moving body has been described.
【００３０】[0030]
【発明の効果】上述のように本発明によれば、第１及び
第２の速度情報の差分と、２つの測定点の中点を通る移
動体の回転半径線上に当該２つの測定点をそれぞれ投影
することによつて得られる２つの投影点の距離とから移
動体の角速度を演算することにより、２つの投影点の距
離に対する速度情報の差分の割合が、移動体の角速度に
相当することを利用して、移動体の回転角に応じて変化
する回転半径に基づく角速度を検出することができ、か
くしてオフセツト誤差のない正確な角速度を検出し得
る。As described above, according to the present invention, the difference between the first and second speed information and the two measurement points are respectively set on the radius of gyration of the moving object passing through the midpoint between the two measurement points. By calculating the angular velocity of the moving body from the distance between the two projection points obtained by projecting, it is possible to determine that the ratio of the difference in the speed information to the distance between the two projection points corresponds to the angular velocity of the moving body. By utilizing this, it is possible to detect the angular velocity based on the radius of rotation that changes according to the rotation angle of the moving body, and thus to detect an accurate angular velocity without an offset error.
【図１】本発明による角速度検出装置の一実施例を示す
ブロツク図である。FIG. 1 is a block diagram showing an embodiment of an angular velocity detecting device according to the present invention.
【図２】速度検出器の一例を示すブロツク図である。FIG. 2 is a block diagram showing an example of a speed detector.
【図３】演算処理部における信号処理手順を示すフロー
チヤートである。FIG. 3 is a flowchart showing a signal processing procedure in an arithmetic processing unit.
【図４】動体上又はその近傍の２点で測定された速度情
報から角速度を求める際の算出原理の説明に供する略線
図である。FIG. 4 is a schematic diagram for explaining a calculation principle when calculating an angular velocity from velocity information measured at two points on or near a moving object.
【図５】動体上又はその近傍の２点で測定された速度情
報から角速度を求める際の算出原理の説明に供する略線
図である。FIG. 5 is a schematic diagram used to explain a calculation principle when calculating an angular velocity from velocity information measured at two points on or near a moving object.
１……角速度検出装置、２、３……速度検出器、４……
演算処理部、５……速度演算部、６……角速度出力部、
７……ＣＰＵ、８……ＣＤ−ＲＯＭ装置、９……表示装
置、１０……入力装置。1. Angular velocity detecting device, 2, 3 ... velocity detector, 4 ...
Arithmetic processing unit, 5: speed calculation unit, 6: angular velocity output unit,
7: CPU, 8: CD-ROM device, 9: Display device, 10: Input device
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 平６−230122（ＪＰ，Ａ) 特開 平２−240512（ＪＰ，Ａ) 特開 平４−278871（ＪＰ，Ａ) 特開 平４−136708（ＪＰ，Ａ) 特開 昭64−88311（ＪＰ，Ａ) (58)調査した分野(Int.Cl.6，ＤＢ名) G01P 3/56 G01C 21/00 G01S 15/60──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-6-230122 (JP, A) JP-A-2-240512 (JP, A) JP-A-4-278871 (JP, A) JP-A-4- 136708 (JP, A) JP-A-64-88311 (JP, A) (58) Fields investigated (Int. Cl. 6 , DB name) G01P 3/56 G01C 21/00 G01S 15/60
Claims (1)
られ、それぞれ第１及び第２の速度情報を検出する第１
及び第２の速度検出手段と、 上記第１及び第２の速度検出手段によつて検出された上
記第１及び第２の速度情報の差分、並びに上記２つの測
定点の中点を通る上記移動体の回転半径線上に当該２つ
の測定点をそれぞれ投影することによつて得られる２つ
の投影点の距離から上記移動体の角速度を演算する演算
手段と を具えることを特徴とする角速度検出装置。A moving object is provided at two different measuring points.
And first and second speed information to be respectively detected.
And second speed detection means, and the first and second speed detection means
The difference between the first and second speed information and the two
The two points on the radius of rotation of the moving object passing through the midpoint of the fixed point
Obtained by projecting each of the measurement points
To calculate the angular velocity of the moving object from the distance of the projection point
Means for detecting angular velocity.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6315468A JP2841028B2 (en) | 1994-11-25 | 1994-11-25 | Angular velocity detector |
| US08/559,154 US5708438A (en) | 1994-11-25 | 1995-11-17 | Angular velocity calculating apparatus for navigation apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6315468A JP2841028B2 (en) | 1994-11-25 | 1994-11-25 | Angular velocity detector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08146036A JPH08146036A (en) | 1996-06-07 |
| JP2841028B2 true JP2841028B2 (en) | 1998-12-24 |
Family
ID=18065726
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6315468A Expired - Fee Related JP2841028B2 (en) | 1994-11-25 | 1994-11-25 | Angular velocity detector |
Country Status (2)
| Country | Link |
|---|---|
| US (1) | US5708438A (en) |
| JP (1) | JP2841028B2 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10132843A (en) * | 1996-10-25 | 1998-05-22 | Murata Mfg Co Ltd | Velocity operating equipment |
| US6358245B1 (en) | 1998-02-19 | 2002-03-19 | Curon Medical, Inc. | Graphical user interface for association with an electrode structure deployed in contact with a tissue region |
| JP4816302B2 (en) * | 2005-09-06 | 2011-11-16 | ソニー株式会社 | Acceleration sensor offset detection apparatus, acceleration sensor offset detection method, acceleration sensor offset detection program, and navigation apparatus |
| RU2456546C1 (en) * | 2010-12-16 | 2012-07-20 | Государственное образовательное учреждение высшего профессионального образования "Тульский государственный университет" (ТулГУ) | Strap-down attitude reference system |
| FR2975484B1 (en) * | 2011-05-20 | 2013-06-07 | Sagem Defense Securite | METHOD FOR REMOTELY DETERMINING AN ABSOLUTE AZIMUT OF A TARGET POINT |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2579760B1 (en) * | 1985-03-29 | 1987-05-15 | Trt Telecom Radio Electr | DEVICE FOR MEASURING THE SCROLLING SPEED OF A SURFACE |
| US5563601A (en) * | 1985-08-16 | 1996-10-08 | Northrop Grumman Corporation. | Two-port synthetic aperature radar system for radar detection of targets |
| US4911548A (en) * | 1987-03-17 | 1990-03-27 | Keren Gill Moshe | Determination of one or more spatial parameters of an object |
| JPH01173825A (en) * | 1987-12-28 | 1989-07-10 | Aisin Aw Co Ltd | Navigation device for vehicle |
| JP2600879B2 (en) * | 1988-12-27 | 1997-04-16 | 株式会社日本自動車部品総合研究所 | Top radar speed detection method |
| JPH02240512A (en) * | 1989-03-14 | 1990-09-25 | Mazda Motor Corp | Navigation device for vehicle |
| US4939522A (en) * | 1989-05-15 | 1990-07-03 | Bechtel Group, Inc. | Method and system for monitoring vehicle location |
| GB8925196D0 (en) * | 1989-11-08 | 1990-05-30 | Smiths Industries Plc | Navigation systems |
| US5374931A (en) * | 1989-12-27 | 1994-12-20 | Raytheon Company | Radar target velocity estimator |
| JP3365799B2 (en) * | 1992-11-24 | 2003-01-14 | オリンパス光学工業株式会社 | Distance / speed measuring device |
| JPH06230122A (en) * | 1993-01-29 | 1994-08-19 | Aisin Seiki Co Ltd | On-board ultrasonic measuring device |
| JPH08160129A (en) * | 1994-12-05 | 1996-06-21 | Uniden Corp | Speed detector |
-
1994
- 1994-11-25 JP JP6315468A patent/JP2841028B2/en not_active Expired - Fee Related
-
1995
- 1995-11-17 US US08/559,154 patent/US5708438A/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| US5708438A (en) | 1998-01-13 |
| JPH08146036A (en) | 1996-06-07 |
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